Degree Project

Human Body
Detection in Rescue Operation of Disaster
Submitted in fulfillment of requirements
For the degree of
Bachelors in Electronics and Telecommunication Engineering
by
Bro. Udhav R. Pawar
Roll No: 1323139
Guide
Mrs. Jyoti M. Varvadekar
Department of Electronics and Telecommunication Engineering
K. J. Somaiya College of Engineering, Mumbai-77
(Autonomous College Affiliated to University of Mumbai)
Batch 2012 -2016

Abstract
In this wonderful world, various robots are being made for various purposes. Every
robot circuits perform individual tasks assigned to it. In this project a human detector
robot is designed to detect and to inform the presence of human. Many areas of world
are getting affected due to natural calamity. Disasters are exceptional & unstoppable
events that are either man made or natural, such as terrorist attacks, earthquakes,
wildfires and floods etc. Disasters create emergency situations to provide basic
services to the victims must be coordinated quickly. Many times we observe that
many people dies by trapping in these disasters but the people also dies on large scale
just because they didn’t get help at instant time or the help provided to them is
late. This project proposes a system based on Wireless Sensor Network (WSN) which
is designed for human existence & detection in an unmanned area can be done only
by an automated system. This system proposed a monitoring system using sensors
unit and transmit data. Mobile robots perform cooperative Simultaneous human body
localization function and communicate over the WSN. The main objective of this
project is to rescue more & more number of people from the adverse condition.
Key words: body detection, Natural calamity, Mobile rescue robot, Wireless sensor
network, Disaster.
i

Contents
List of Figures…………………………………………………………………………… iv
List of Tables……………………………………………………………………………. v
1 Introduction……..……………………………………………………......1
2 Literature Survey……..………………………………………………….
2.1 Survey of Human-Sensing………………………………………………...3
2.2 Sensor classification..................................................................................... 4
2.3 Survey of Human Detection in Disaster Zones using Manually Controlled
Robots……………………………………………………………………... 5
3 Proposed System…………………………………………………………..
3.1 Robot Unit ………………………………………………………………..8
3.2 Control Unit………………………….……………………………………. 10
3.3 Power Supply……………………………………………………………… 11
4 Circuit Diagram..........................................................................................
4.1 Robot Unit & Power Supply………………………………………………. 15
4.2 Control Unit ZigBee USB………………………………………………… 17
5 PCB Layouts………………………………………………………………
5.1 Robot
Unit………………………………………………..………………………
19
5.2 Control Unit…………………………….………………………………...20
5.3 Actual I ple e ted PCB………………………………………………………………………… 21
ii

6 Software Development……………………………………………………
6.1 Express PCB and Express SCH………………………………………………………………….. 22
6.2 Ardui o……………………………………………………………………………………………………. 37
6.3 Visual Basic 6 VB6 …………………………………………………………………………………. 39
7 Description of Hardware………………………………………………
7.1 PIR Sensor……………………………………………………………….43
7.2 MQ6 Gas Sensor………………………………………………………... 45
7.3 Temperature Sensor-Thermistor………………………………………… 48
7.4 Wireless Camera Module………………………………………………. 50
7.5 ZigBee Module………………………………………………………….53
7.6 Arduino Uno R3 (ATMEGA328)………………………………………. 55
7.7 PUSH-PULL Four Channel Driver with Diodes L2963D……………… 57
7.8 PL-2303 USB to Serial Adapter……………………………………….... 58
8 Programming Code…………………………………………………….
8.1 Microcontroller Code…………………………………………………… 59
8.2 Visual Basic 6 Code…………………………………………………….. 64
8.3 VB6 Application Layout………………………………………………... 72
9 Conclusion and Scope for future work………………………………..
9.1 Conclusion……………………………………………………………….73
9.2Scope for Future Work…………………………………………………… 73
References……………………………………………………………………………….. 74
Acknowledgement………………………………………………………………………. 76
iii

List of Figures
1.1 Rescue in the wreckage of WTC after it collapsed……………………………….. 1
1.2 Nepal earthquake Rescue team in Durbar Square………………………………… 2
3.1 Robot Unit………………………………………………………………………… 8
3.2 Control Unit………………………………………………………………………. 10
3.3 Power Supply……………………………………………………………………… 11
4.1 Robot Unit & Power Supply……………………………………………………… 15
4.2 Control Unit ZigBee USB………………………………………………………… 17
5.1 AVR328 & ZigBee Module……………………………………………………….19
5.2 MQ6 Gas Sensor………………………………………………………………….. 19
5.3 Temperature Sensor-Thermistor…………………………………………………...20
5.4 ZigBee Module & USB…………………………………………………………… 20
5.5 AVR328 & ZigBee Module, ZigBee Module & USB……………………………. 21
6.1 Aurdino Board…………………………………………………………………….. 37
6.2 New Project Dialog Box…………………………………………………………... 40
6.3 VB6 Programming Environment………………………………………………….41
6.4 Source Code Window……………………………………………………………..42
7.1 Proximity of PIRs…………………………………………………………………..44
7.2 DSN-FIR800……………………………………………………………………….44
7.3 MQ6 Gas Sensor Module………………………………………………………….46
7.4 Thermistor symbol & NTC thermistor, bead type, insulated wire……………….. 49
7.5 Camera Package Contents………………………………………………………….52
7.6 ZigBee Module…………………………………………………………………….53
7.7 ATMEGA328 Pin Configuration…………………………………………………..55
iv

7.8 L293D Pin Configuration………………………………………………………….57
8.1 VB6 application Layout…………………………………………………………… 72
List of Tables
6.1 Clearances for Electrical Conductors ……………………………………………..35
7.1 Pin Description …………………………………………………………………… 47
7.2 Specifications ……………………………………………………………………..47
7.3 Summary…………………………………………………………………………..55
v

Chapter 1
Introduction
This chapter introduces us to the basic idea of the project. The chapter will make us
clear that how this advanced technology using robot is useful to mankind for rescue
operation in Disasters field.
Large scale disasters, both natural and man-made, are an unfortunate reality for many
people across the world. The situation in the wake of a disaster is often chaotic and
disaster victims who have become trapped or otherwise incapacitated by the events
surrounding them are for the most part fully reliant on the efforts of rescue workers. It
is therefore vital to the lives of victims that the search and rescue operation happens as
quickly and efficiently as possible. Advanced technology has so far only played a
minor role when rescue workers along with trained dogs attempt to locate and
evacuate victims who have been trapped in damaged or collapsed building.
Figure 1.1: Rescue in the wreckage of WTC after it collapsed
1

Figure 1.2: Nepal earthquake Rescue team in Durbar Square
During the natural calamities like earthquakes, it is difficult to rescue the human
beings under the buildings. Though detection by rescue team is done, it consumes a
lot of time. Detection of human in appropriate time is very important in such
situations. So the project proposes a mobile rescue robot that is operated manually
using ZigBee wireless technology which moves in the Disasters area and helps in
identifying people and rescue operations.
2

Chapter 2
Literature Survey
This chapter presents brief Literature survey for developing the project in simple &
cost efficient manner. Survey includes Human-sensing techniques, Classification of
sensors depending on Human traits and survey of Human Detection in Disaster Zones
using manually Controlled Robots.
2.1 Survey of Human-Sensing:
Human-sensing is the process of extracting any information regarding the people in
some environment. In this survey we have focused on the inference of spatio-temporal
property-Presence. Presence is arguably the property that is most commonly sought-
after in existing real-world applications, the most popular presence-sensor being
motion sensors (PIR) and proximity sensors (scalar infrared range-finders).At the
lowest level, human-sensing is equivalent to measuring, either directly or indirectly,
one or more of the myriad ways humans impact their environments. These are human
traits that are either related to human presence or to human actions.
There are also some human traits that can be exploited in human-sensing systems,
briefly describing the existing sensing modalities that can be used to measure them.
Static traits stem from the physiological properties are produced whenever a person is
present, irrespective of what he or she is doing. Common static traits are weight and
shape of which shape can be useful for developing our system. Shape is measured
indirectly: shape detectors operate by intersecting a person's shape with geometric
lines which are either actively produced by the sensor itself (in the case of radars, for
example) or passively appropriated from the environment (e.g. cameras). Therefore,
shape is a trait that must be extracted from one of three other traits: reflectivity (with
cameras or radars, for example), attenuation (tomographic sensors), or emissivity
(thermal imagers).
3

Another static trait is the involuntary motion of internal organs, such as the heart and
lungs. This can be measured through skin-penetrating radio and ultrasound signals.
Finally, a relatively new avenue for human-sensing lies in scent detection [Pearce et
al. 2006].
Furthermore, CO2 levels have also been used to detect the presence of people, albeit
with slow response times [De Cubber and Marton 2009].
Dynamic traits are those that arise from human activity. We divide these into three
categories: external motion, gait, and vibrations. As for vibrations, these are the
pressure waves that people produce either involuntarily (in the form of sounds and
vibrations from footsteps, for example) or voluntarily (in the form of speech), which
can be measured with accelerometers and microphones, respectively.
2.2 Sensor classification:
On basis of many different human traits that can be used for identifying human
presence large no. of sensors are available. Of which we limit ourselves to a selection
of approaches which are either the most useful, the most ubiquitous, or the most
ingenious. We discuss these in the context of similar solutions to illustrate the
advantages and disadvantages of each.
Binary Sensors:
A variety of sensing modalities can be grouped into the broad category of “binary
sensors". In the context of human-sensing, binary sensors are those that return logic 1
if human presence is detected within a certain sensing area, otherwise returning logic
0. The modality of binary sensors includes sensors such as break-beams, contact
sensors, PIRs, and binary Doppler-shift sensors, all of which are currently used in
resource-constrained scenarios. In single-node configuration, binary sensors can only
be used to detect presence, and nothing more.
4

Vibration Sensors:
Various commercial heartbeat detection systems employ a set of vibration or seismic
sensors to detect the presence of a person inside a vehicle or container by sensing
vibrations caused by the human heartbeat. This technique can also be used in our
system for detecting alive human.
Gas Sensors:
Another commercial product uses infrared light to detect the level of carbon dioxide
in an enclosed space, from which it infers the presence of humans or other living
creatures
Thermo graphic Camera:
Originally developed for military use during the Korean War, thermo graphic cameras
have slowly migrated into other fields as varied as medicine and archeology. More
recently, the lowering of prices have helped fuel the adoption of infrared viewing
technology. Advanced optics and sophisticated software interfaces continue to
enhance the versatility of IR cameras and are best suited for Night Vision. SO they
are also best suited in our system for detection of human under debris. Instead we
also can use low-cost web camera in order to confirm the existence of a human
shape.
2.3 Survey of Human Detection in Disaster Zones using Manually
Controlled Robots:
In initial days dogs were used because of their High sensitivity to any slight motion or
Human presence. But it was hard to totally depend on them since they can predict the
presence of a living victim and dead victim and also they were not able to expose the
exact situation of the human. One major drawback was dogs couldn’t work
independently; they need assistance of a human. It means, the need is totally or
partially independent to human factor but still depends on human.
5

Later techniques such as
1. Optical devices namely Tactic Pole Utility system
2. Acoustic devices like Microphones and Amplifiers were used but with limited
applications.
Robots are now achieving good progress in many fields like Military, Industry,
Medicine, etc., with proven efficiency. They are playing an important role in
replacing Human factor in almost all fields.
Usha Tiwari, Rahul Kaushik, Shraddha Subramaniyan, (2012), “A technical review
on Human Rescue Robots”, VSRD-IJEECE, Vil. 2 (3), 127-134 has explained about
designing a Robot to navigate in the rubble with various sensors. This method used 2
methods to detect alive human, one is IR radiation emerging from the live humans
and other is using the sound or cry for the help made from the humans.
Mauricio Correa, Gabriel Hermosilla, Rodrigo Verschae, Javier Ruiz-del-Solar,
(2012), “Human Detection and Identification by Robots using Thermal and Visual
information in Domestic Environments”, J Intell Robot System (2012) 66:223-243
has given the concept of enabling robots to detect and identify humans in domestic
environment. This work was done with the aid of Thermal and Visual Information
sources that were integrated to detect humans and further processed to verify it.
Remote Operated and Controlled Hexapod (ROACH) is a six-legged design that
provides significant advantages in mobility over wheeled and tracked designs. It was
equipped with predefined walking gaits, cameras, which transmit, live audio and
videos of the disaster site, as well as information about locations of objects with
respect to the robot’s position to the interface on the laptop. Specialized robots have
been designed for these types’ of environments such as KOHGA the snake like
robot. This robot was constructed by connecting multiple crawler vehicles serially,
resulting in a long and thin structure so that it can enter narrow space.
6

Quality work has been done in the field of robotics. They came into existence in the
early 21st century but since then enormous improvements have been made in its
concept, design based on purpose of use. Various rescue robots have been developed
and some of these are – CRASAR (Centre for Robot-Assisted Search and Rescue) in
University of South Florida. This robot was used for first time in real conditions on
11th September 2001 in the World Trade Centre disaster. Different sensors like
millimeter wave radar for measuring distance, a color CCD camera for vision and a
forward-looking infrared camera for the human heat detection were used in it.
Shwetha, R, Dr. Chethan H K, (2014), “Automatic and Manual Controlled Alive
Human Detection Robot during disaster Management”, International Journal for
Technological Research in Engineering”, ISSN: 2347-4718,Volume 1, Issue 11 has
done a work on designing an economical robot, which works using AVR, MCU, PIR
sensor. This robot senses the human body temperature using PIR sensor and an
alarm/indicator is used to indicate the signal when it detects alive body and this
message is sent through SMS using GSM technology to enable rescue operation.
Burion presented a project that provided a sensor suitable for human detection for the
USAR robots. It evaluated several types of sensors for detecting humans such as pyro
electric sensor, USB camera, microphone, and IR camera. The pyro electric sensor
was used to detect the human body radiation. The USB camera was used for motion
detection. A microphone was used for long duration and high amplitude sound
detection. The IR camera was used to detect humans by their heat image. The main
idea was to detect a change in the image scene by checking the values of the pixels.
Several images for the scene were acquired and subtracted from each other to discover
if a motion has occurred. The used technique was fairly efficient in detecting the
victims. But still, the robot was not fully autonomous and was dependent on the
operator.
7

Chapter 3
PROPOSED SYSTEMS
This chapter represents the design of the proposed system to fulfill the objective of the
project post study of detailed Literature survey in the form of block schematic which
is easy to implement with minimum cost and be able to produce desired outcome.
The system can be divided into two units 1) Robot Unit and 2) Control Unit
3.1 Robot Unit:
This unit consists of ATMEGA328 Microcontroller, L293D Motor Driver IC, ZigBee
Module, motors of the robot & various sensors for detection of human presence as
shown in the block diagram.
Figure 3.1: Robot Unit
8

ATMEGA328 is a single chip 8-bit AVR RISC-based microcontroller created by Atmel
and belongs to the megaAVR series. It has 28 pins. It has flash memory of 32 Kbytes.
ZigBee module is connected to PD0 and PD1 pins of the microcontroller i.e. data pins
of ZigBee module are connected to RXD and TXD pins of microcontroller. The two
Vcc pins are shorted and connected to a supply of 5v.GND pins are shorted and
connected to ground. The ZigBee module receives the data and transmits it to the
microcontroller.
PIR sensor is used to detect the human beings. The PIR sensor is nothing but Passive
Infra-Red sensor. These sensors work on the principle that they every human being
emits infra-red radiations of very low wave length. Thus this sensor senses these
radiations and outputs a logic high value. This sensor can sense the human within the
range of 20feet. They have an operating voltage of 2.2-5V. PIR sensor is connected to
A3 pin of the microcontroller.
MQ6 gas sensor is also used to detect the human presence. This sensor is suitable for
sensing carbon dioxide (CO2) concentration in the air ranging from 100 to 10000
PPM which is exhaled during breathing. Also it has high sensitivity and fast response
time. Gas sensor is connected to A4 pin of the microcontroller.
Temperature sensor- Thermistor is another sensor used for detecting human being by
measuring surrounding temperature. It is resistor with resistance varying according to
its temperature. Here we are using NTC (Negative Temperature Coefficient)
thermistor where resistance decreases with increasing temperature. Temperature
sensor is connected to A5 pin of the microcontroller.
Camera module is also used for purpose of the project. Super mini wireless color
camera with excellent wireless transmission range is used.
9

L293D is a motor drive IC. This IC is required to drive the motor and also eliminates
back EMF generated. This IC internally has H-bridge circuit. This has 16 pins out of
which four input pins are used to drive two motors. Enables are used to enable these
input pins. A supply voltage of 5v is applied at the 16
th
pin to operate the IC.8
th
pin is
applied with a voltage of 12v required to drive the motors. The L293D IC can drive
voltages up to 36v.That is 8
th
pin can be applied with a voltage ranging from 2.4v to
3.6v.
3.2 Control Unit:
The control unit consists of PC/Laptop, ZigBee Module, USB Module, Wireless
Camera receiver & TV Tuner card as shown.
Figure 3.2: Control Unit
10

The USB Module used is PL-2303 USB Serial cable adapter which is designed to
work on all Windows operating systems. It is used for connecting ZigBee module to
PC/Laptop. It provides serial connection up to 1 Mbps of data transfer rate with easy
plug and play installations.
ZigBee is the wireless technology used here to transmit data over 30 meters range.
The ZigBee module uses frequency of 2.4 GHz with baudrate of 9600. The Data pins
of ZigBee module are connected to RX & TX pins of the PL-2303 USB to Serial
adapter. A Vcc of 3.3v is applied to the module.
The wireless camera receiver is having receiving frequency of 0.9/1.2 GHz. It is
supplied by DC 12V 1A adaptor via plugging into the power jack. It has standard AV
output compatible with TV screens. TV tuner card is needed to make it compatible
with PCs/Laptops.
On PC/Laptop application developed using Visual Basic 6 software is run and is used
for guiding robot for its movements. It also shows graph related to various sensors i.e.
variations in their values which help in determining human presence. Also live video
received by wireless camera receiver is displayed on the screen for simplicity of
purpose.
3.3 Power supply:
Power supply is necessary in both; Robot as well as Control unit. So it is the most
important part of system. For our project we require +5V regulated power supply
with maximum current rating 500Ma. It consists of Step-down transformer, Rectifier,
Filter circuit & Voltage regulator as shown below.
Figure 3.3: Power Supply
11

Step-down transformer:
Step down transformer is the first part of regulated power supply. To step down the
mains 230V A.C. we require step down transformer. Following are the main
characteristic of electronic transformer.
• Power transformers are usually designed to operate from source of low
impedance at a single freq.
• It is required to construct with sufficient insulation of necessary dielectric
strength.
• Transformer ratings are expressed in volt–amp. The volt-amp of each
secondary winding or windings is added for the total secondary VA. To this
are added the load losses.
• Temperature rise of a transformer is decided on two well-known factors i.e.
losses on transformer and heat dissipating or cooling facility provided unit.
Rectifier:
Rectifier unit is a circuit which converts A.C. into pulsating D.C. Generally semi-
conducting diode is used as rectifying element due to its property of conducting
current in one direction only. Generally there are two types of rectifier.
• Half wave rectifier
• Full wave rectifier.
In half wave rectifier only half cycle of mains A.C. is rectified so its efficiency is very
poor. So we use full wave bridge type rectifier, in which four diodes are used. In each
half cycle, two diodes conduct at a time and we get maximum efficiency at output.
Following are the main advantages and disadvantages of a full-wave bridge type
rectifier circuit.
12

Advantages:
• The need of center tapped transformer is eliminated.
• The o/p is twice that of center tap circuit for the same secondary voltage.
• The PIV rating of diode is half of the center tap circuit.
Disadvantages:
• It requires four diodes.
• As during each half cycle of A.C. input, two diodes are conducting therefore
voltage drop in internal resistance of rectifying unit will be twice as compared
to center tap circuit.
Filter circuit:
Generally a rectifier is required to produce pure D.C. supply for using at various
places in the electronic circuit. However, the o/p of rectifier has pulsating character
i.e. if such a D.C. is applied to electronic circuit it will produce a hum i.e. it will
contain A.C. and D.C. components. The A.C. components are undesirable and must
be kept away from the load. To do so a filter circuit is used which removes (or filters
out) the A.C. components reaching the load. Obviously a filter circuit is installed
between rectifier and voltage regulator. In our project we use capacitor filter because
of its low cost, small size and little weight and good characteristic. Capacitors are
connected in parallel to the rectifier o/p because it passes A.C. but does not pass D.C.
at all.
Voltage Regulator:
A voltage regulator is a circuit. that supplies constant voltage regardless of change in
load current. IC voltage regulators are versatile and relatively cheaper. The 7800
series consists of three terminal positive voltage regulator. These ICs are designed as
13

fixed voltage regulator and with adequate heat sink, can deliver o/p current in excess
of 1A. These devices do not require external component. This IC also has internal
thermal overload protection and internal short circuit and current limiting protection.
For our project we use 7805 voltage regulator IC.
14

Chapter 4
Circuit Diagram
This chapter includes the actual circuit schematic of the proposed system by referring
the block schematic diagram to produce desired outcome.
4.1 Robot Unit& Power supply:
Figure 4.1: Robot Unit & Power Supply
15

 This unit consists of ATMEGA328 Microcontroller, L293D Motor Driver IC,
ZigBee Module, motors of the robot & various sensors for detection of human
presence as shown in the block diagram.
 ATEGA328 is a single chip 8-bit AVR RISC-based microcontroller created by
Atmel and belongs to the megaAVR series. It has 28 pins. It has flash memory
of 32 Kbytes.
 ZigBee module is connected to PD0 and PD1 pins of the microcontroller i.e.
data pins of ZigBee module are connected to RXD and TXD pins of
microcontroller. The two Vcc pins are shorted and connected to a supply of
5v.GND pins are shorted and connected to ground. The ZigBee module
receives the data and transmits it to the microcontroller.
 PIR sensor is used to detect the human beings. The PIR sensor is nothing but
Passive Infra-Red sensor. These sensors work on the principle that they every
human being emits infra-red radiations of very low wave length. Thus this
sensor senses these radiations and outputs a logic high value. This sensor can
sense the human within the range of 20feet. They have an operating voltage of
2.2-5V. PIR sensor is connected to A3 pin of the microcontroller.
 MQ6 gas sensor is also used to detect the human presence. This sensor is
suitable for sensing carbon dioxide (CO2) concentration in the air ranging
from 100 to 10000 PPM which is exhaled during breathing. Also it has high
sensitivity and fast response time.Gas sensor is connected to A4 pin of the
microcontroller.
 Temperature sensor- Thermistor is another sensor used for detecting human
being by measuring surrounding temperature. It is resistor with resistance
varying according to its temperature. Here we are using NTC (Negative
Temperature Coefficient) thermistor where resistance decreases with
16

increasing temperature. Temperature sensor is connected to A5 pin of the
microcontroller.
 Camera module is also used for purpose of the project. Super mini wireless
color camera with excellent wireless transmission range is used.
 L293D is a motor drive IC. This IC is required to drive the motor and also
eliminates back EMF generated. This IC internally has H-bridge circuit. This
has 16 pins out of which four input pins are used to drive two motors. Enables
are used to enable these input pins. A supply voltage of 5v is applied at the
16
th
pin to operate the IC.8
th
pin is applied with a voltage of 12v required to
drive the motors. The L293D IC can drive voltages up to 36v.That is 8
th
pin
can be applied with a voltage ranging from 2.4v to 3.6v.
4.2 Control Unit ZigBee USB:
Figure 4.2: Control Unit ZigBee USB
17

 The control unit consists of PC/Laptop, ZigBee Module, USB Module,
Wireless Camera receiver & TV Tuner card as shown.
 The USB Module used is PL-2303 USB Serial cable adapter which is designed
to work on all Windows operating systems. It is used for connecting ZigBee
module to PC/Laptop. It provides serial connection up to 1 Mbps of data
transfer rate with easy plug and play installations.
 ZigBee is the wireless technology used here to transmit data over 30 meters
range. The ZigBee module uses frequency of 2.4 GHz with baud rate of 9600.
The Data pins of ZigBee module are connected to RX & TX pins of the PL-
2303 USB to Serial adapter. A Vcc of 3.3v is applied to the module.
 The wireless camera receiver is having receiving frequency of 0.9/1.2 GHz. It
is supplied by DC 12V 1A adaptor via plugging into the power jack. It has
standard AV output compatible with TV screens. TV tuner card is needed to
make it compatible with PCs/Laptops.
 On PC/Laptop application developed using Visual Basic 6 software is run and
is used for guiding robot for its movements. It also shows graph related to
various sensors i.e. variations in their values which help in determining human
presence. Also live video received by wireless camera receiver is displayed on
the screen for simplicity of purpose.
18

Chapter 5
PCB Layouts
This chapter includes layouts of the fabricated Printed Circuit Boards (PCBs) which
are used in implementation of project and also images of actual implemented PCBs.
5.1 Robot Unit:
Figure 5.1: AVR328 & ZigBee Module
Figure 5.2: MQ6 Gas Sensor
19

Figure 5.3: Temperature Sensor-Thermistor
5.2 Control Unit:
Figure 5.4: ZigBee Module & USB
20

5.3 Actual Implemented PCB:
Figure 5.5: AVR328 & ZigBee Module, ZigBee Module & USB
21

Chapter 6
Software Development
This chapter presents information about or explanation of various software used in
development of the project such as Express SCH & Express PCB, VB6, Arduino, etc.
6.1 Express PCB and Express SCH:
Five steps to PCB making
1) Draw the schematic of the circuit on a computer using EXPRESS PCB.
Entering the Schematic into Express SCH
1. Open Express SCH to create a fresh schematic. The first time you start
Express SCH you will get a dialog box with a link to a quick start guide for
Express SCH. Once you are ready to start, close the dialog box to view the
empty schematic.
22

2. Click on Op-Amp-like symbol to place components. To place the resistors,
select “Passive-Resistor” in the text box in the upper right corner.
3. Then click on the schematic for the 4 resistors (not including the photoresistor
or potentiometer) in roughly the location you want them to display.
23

4. Now you need to give each of the resistors unique identifiers. Right click on a
resistor and choose “Set component properties.” In the Component Properties box,
under “Component ID,” select “Auto assign Part ID.” The program should assign this
resistor to be R1. Set its value 10k in the “Part Name” field and hit OK. Repeat this
process to identify and label R2 (10k), R3 (100k), and R4 (10k). Rotate R4 by right
clicking on it, selecting “Rotate component” and the “Body left 90º”.
5. Now add the capacitor, potentiometer, comparator, and transistor to the circuit by
first clicking back on the component placement tool (the red op-amp symbol) and
using the component names “Passive-Capacitor polarized,” “Passive- Potentiometer,”
“IC – National - LM311 – Comparator – DIP-8,” and “Semiconductor – Transistor
NPN.” Use “set component properties” to assign all of these parts Part IDs, label
them and position them (using the arrow tool) in a logical manner.
24

6. Now we need to add some components (the photoresistor and the buzzer) that
don’t exist in the library. Let’s start with the photoresistor. The easiest way to make
new parts is to start with a symbol that’s already close to what you want and modify
it. Place a regular resistor on the layout (using the placement tool with ‘Passive –
Resistor’). Go to the selection tool (the arrow), choose that resistor and go to the
“Component” menu at the top and select “Ungroup component”
25

7. Using the circle shaped tool from the tool menu, draw a circle around the resistor.
8. Select the whole object (using the arrow tool), and choose “Component” -> “Group
to make component”
26

9. Select the whole object (using the arrow tool), and choose “Component” -> “Group
to make component”
10. In the component properties box that appears, assign the photoresistor a unique
part ID, such as “PR1”.
27

11. Move the photoresistor to the spot you want it in the circuit.
12. Now we will create the buzzer. The buzzer is a polarized device, so a good
starting point is a polarized capacitor. Go to the component selector, choose a
polarized capacitor, ungroup the capacitor, and then add a circle to the symbol to
distinguish it as a buzzer. Group the entire object as a component with part ID,
“BZ1,” and label “CEP-2224” and save the component as a “Buzzer” under custom
components. At the last step, you’re display will be as follows:
13. Now we need to add our connections to power and ground. Let’s start with
ground. Go to the “symbol or signal label” tool, which looks like a ground, and select
“Power – ground” from the text box in the upper right.
28

14. Place 5 grounds into the circuit, at the bottom of R2, near pins 1 and 4 of the
LM311, near the bottom of the capacitor, at the emitter of the BJT, and at the bottom
of the potentiometer.
29

15. Repeat this process, but using “Power – Voltage Supply +9V” to put 5 power
connections in at the top of R1, the photoresistor, pin 8 of the LM311, the top of R3
and the top of the buzzer.
16. Now let’s add in our battery connection. Place a battery into the circuit, using
“Misc – Battery.” Assign the battery the part ID “B1” and give it the label “9V.”
Then, use the symbol tool to add a ground connection and a +9V network connection
(this will link the positive terminal of the battery with every other point in the circuit
that should go to 9V—if you wanted to add a switch to the circuit, you would add it
between the + terminal of the battery and the ‘+9V’ symbol.)
30

17. Now select the wire tool, and wire your circuit together. The left-click starts the
wire and sets a bend, and the right click ends a wire. After wiring, the schematic
should appear as follows:
18. Save your work, using “Save As..” to create a unique filename.
19. Check your file for netlist errors using “File” -> “Check schematic for netlist
errors”
20.The pins inside of the BJT are not specified (this is because pin assignments vary
for different BJTs) so you will probably will get an error message, like that shown
below:
21. Hit “cancel” on the error message, and then as that message suggested, select the
part and choose “Component” and then “Ungroup Component.” This example uses
the 2n1711 BJT in the little tin can (the TO-39 package). For this package the base is
pin 2, the emitter is pin 1, and the collector is pin 3. To set this in the schematic,
double click on just the collector pin, and assign it to pin 3.
22. In a similar fashion, assign “2” to the base, and “1” to the emitter. Then select the
entire component (this takes a lot of shift-clicking—be sure to get all the little parts),
31

choose “Group to make component” from the Component menu, and assign the part
ID to be Q1.
23. If you’re going to be using the transistor again, it’s probably a good idea to
then click on it, select “Component” -> “Save custom component” and save it as the
transistor name, which in this case is 2n1711.
24. Now check your file for netlist errors again, using “File” -> “Check schematic for
netlist errors,” you might get an error like that shown below (if not skip to #28)
32

25. The cause of this error is that the wire isn’t really connected. The “snap-to-
grid” function has prevented you from making a connection. Hit continue to exit the
netlist check. Then toggle the “snap-to-grid” function off, select the errant line end(s)
and move it (them) into the correct position. Repeat this process until all the lines are
properly connected.
33

26. Reattempt the netlist error check.
27. Once the netlist error check runs clean, you will be asked to save your file,
which you should definitely do. The final schematic should look like this:
28. Print your schematic to reference as you work on your layout. At this
point, you should review your schematic carefully to check for errors. Once you
are satisfied that the schematic is correct, close Express SCH.
2) Design the PCB on the computer using the EXPRESS PCB.
While designing a PCB, try to make it compact as possible.
RULES FOR MAKING PCB:
1. There should not be 90 degree connections of wire. All connections should
preferably made at 45 degrees.
2. The mirror image of the PCB layout will be imprinted on the copper side of the
actual PCB. So any text to be written on the copper side the text should be mirrored
during layout design so that the text appears normal on the copper side of the PCB.
3. Always print from a laser printer. Printout from inkjet or any other printer will not
work as it may not be sharp enough.
34

4. You can print on both top and bottom parts of the board, but here we will print text
only on the top copper layer.
5. There are standards for using traces of different thicknesses for different purposes:
(a) 0.6mm (0.025-inch) trace for single tracks
(b) 1.3mm (0.050-inch) trace for power and ground tracks
(c) 0.2mm to 0.4mm (0.010- to 0.015-inch) traces for going between IC and
component pads
6. Tracking from large to small and back to large is known as ‘nack-ing’ or
‘nacking down’.
7. You can also let rest of the space remain covered by copper, leaving clearance
beside each line. We will not use it as this type of filled circuit is best for industrial
level machine etching
8. The standards for clearances for electrical conductors are listed here
Table 6.1: Clearances for Electrical Conductors
Voltage (DC or Peak AC) Internal External (<3050m) External (>3050m)
0-15V 0.05 mm 0.1 mm 0.1 mm
16-30V 0.05 mm 0.1 mm 0.1 mm
31-50V 0.1 mm 0.6 mm 0.6 mm
51-100V 0.1 mm 0.6 mm 1.5 mm
101-150V 0.2 mm 0.6 mm 3.2 mm
151-170V 0.2 mm 1.25 mm 3.2 mm
171-250V 0.2 mm 1.25 mm 6.4 mm
251-300V 0.2 mm 1.25 mm 12.5 mm
301-500V 0.25 mm 2.5 mm 12.5 mm
9. For thin tracks (<0.6mm traces), it is good to add ‘chamfer’ to ‘T’ junction, thus
eliminating 90° angles.
3) Print the PCB design through a laser printer.
Go to File→Print. Select ‘Layers to Print.’ Keep ‘Enlarge to Fit Page’ option
unchecked as it will not give the exact layout of the components. Print the PCB layout
from a laser printer.
4) Take the impression of the circuit on a copper clad board.
35

5) Remove the excess copper by etching
Cut the copper-clad board to a size matching the size of the PCB design printout. You
can also use a glass epoxy board but it’s costlier than a copper-clad board.
Put the paper printout on the board with the printed side facing the copper side. Affix
the paper to the board using cellotape so that the paper does not move while ironing.
Now take your household electric iron and set its temperature to the maximum . Press
the hot iron on the paper and carefully move it across the paper for about four
minutes. While doing so, check for impressions. Continue ironing until the complete
impression of the circuit comes on the copper side.
Complete the blanks, if any, with a good permanent marker. If any line is not dark
enough, redraw it on the board using the permanent marker. Wash the board in normal
tap water.
Drill IC holes using a 1mm hand PCB drill as shown in Fig. 14. Redraw the lines
using the permanent marker if they have been defaced by the drill.
Now mix some FeCl3 (ferric chloride) powder in hot water. The reaction is vigorous,
so take safety precaution. Put the copper-clad board in the solution and constantly tilt
the container from side to side without spilling its contents. This is done to speed up
the reaction. It takes five to six minutes to wash away all the excess copper. In
between, keep checking the board. Ensure that the marker or carbon of the impression
does not wash away.
Take the board out and wash it under tap water to remove the permanent marker ink.
Remove carbon by using nail polish remover. Use a scrubber to gently scrub the
copper surface till it shines. Your PCB is ready.
36

6.2 Arduino:
Arduino is an open-source prototyping platform based on easy-to-use hardware and
software. Arduino boards are able to read inputs - light on a sensor, a finger on a
button, or a Twitter message - and turn it into an output - activating a motor, turning
on an LED, publishing something online. You can tell your board what to do by
sending a set of instructions to the microcontroller on the board. To do so you use the
Arduino programming language (based on Wiring), and the Arduino Software (IDE),
based on Processing.
Figure 6.1: Arduino Board
Why Arduino?
Thanks to its simple and accessible user experience, Arduino has been used in
thousands of different projects and applications. The Arduino software is easy-to-use
for beginners, yet flexible enough for advanced users. It runs on Mac, Windows, and
Linux. Teachers and students use it to build low cost scientific instruments, to prove
37

chemistry and physics principles, or to get started with programming and robotics.
Designers and architects build interactive prototypes, musicians and artists use it for
installations and to experiment with new musical instruments.
 Inexpensive - Arduino boards are relatively inexpensive compared to other
microcontroller platforms. The least expensive version of the Arduino module
can be assembled by hand, and even the pre-assembled Arduino modules cost
less than $50.
 Cross-platform - The Arduino Software (IDE) runs on Windows, Macintosh
OSX, and Linux operating systems. Most microcontroller systems are limited
to Windows.
 Simple, clear programming environment - The Arduino Software (IDE) is
easy-to-use for beginners, yet flexible enough for advanced users to take
advantage of as well. For teachers, it's conveniently based on the Processing
programming environment, so students learning to program in that
environment will be familiar with how the Arduino IDE works.
 Open source and extensible software - The Arduino software is published as
open source tools, available for extension by experienced programmers. The
language can be expanded through C++ libraries, and people wanting to
understand the technical details can make the leap from Arduino to the AVR C
programming language on which it's based. Similarly, you can add AVR-C
code directly into your Arduino programs if you want to.
 Open source and extensible hardware - The plans of the Arduino boards are
published under a Creative Commons license, so experienced circuit designers
can make their own version of the module, extending it and improving it. Even
relatively inexperienced users can build the breadboard version of the module
in order to understand how it works and save money.
38

6.3 Visual Basic 6 (VB6):
VISUAL BASIC is a high level programming language which evolved from the
earlier DOS version called BASIC. BASIC means Beginners' All-purpose Symbolic
Instruction Code. It is a relatively easy programming language to learn. The code
looks a lot like English Language. Different software companies produced different
versions of BASIC, such as Microsoft QBASIC, QUICKBASIC, GWBASIC, IBM
BASICA and so on. However, people prefer to use Microsoft Visual Basic today, as it
is a well-developed programming language and supporting resources are available
everywhere. Now, there are many versions of VB exist in the market, the most
popular one and still widely used by many VB programmers is none other than Visual
Basic 6.
Before you can program in VB 6, you need to install Visual Basic 6 compiler in your
computer. You can purchase a copy of Microsoft Visual Basic 6.0 Learning Edition or
Microsoft Visual Basic Professional 6.0 with Plus Pack from Amazon.com, both are
vb6 compilers. If you have already installed Microsoft Office in your PC or laptop,
you can also use the built-in Visual Basic Application in Excel to start creating Visual
Basic programs without having to spend extra cash to buy the VB6 compiler.
After installing vb6 compiler, the icon with appears on your desktop or in your
programs menu. Click on the icon to launch the VB6 compiler. On startup, Visual
Basic 6.0 will display the following dialog box as shown in figure.
39

Figure 6.2: New Project Dialog Box
You can choose to start a new project, open an existing project or select a list of
recently opened programs. A project is a collection of files that make up your
application. There are various types of applications that we could create; however, we
shall concentrate on creating Standard EXE programs (EXE means executable).
Before you begin, you must think of an application that might be useful, have
commercial values .educational or recreational. click on the Standard EXE icon to go
into the actual Visual Basic 6 programming environment.
When you start a new Visual Basic 6 Standard EXE project, you will be presented
with the Visual Basic 6 Integrated Development Environment (IDE). The Visual
Basic 6 Integrated Programming Environment is show in Figure 6.3.2. It consists of
the toolbox, the form, the project explorer and the properties window.
40

Figure 6.3: VB6 Programming Environment
Form is the primary building block of a Visual Basic 6 application. A Visual Basic 6
application can actually comprises many forms; but we shall focus on developing an
application with one form first. We will learn how to develop applications with
multiple forms later. Before you proceed to build the application, it is a good practice
to save the project first. You can save the project by selecting Save Project from the
File menu, assign a name to your project and save it in a certain folder.
Creating Your First Application:
First of all, you have to launch Microsoft Visual Basic 6.In the Visual Basic 6
integrated development environment, a default form with the name Form1 will be
available for you to work on your new project. Now, double click on Form1, the
source code window for Form1 as shown in figure 2.1 will appear. The top of the
source code window consists of a list of objects and their associated events or
procedures. In figure 2.1, the object displayed is Form and the associated procedure
is Load.
41

Figure 6.4: Source Code Window
When you click on the object box, the drop-down list will display a list of objects you
have inserted into your form as shown in figure 2.2. Here, you can see a form with the
name Form1, a command button with the name Command1, a Label with the name
Label1 and a Picture Box with the name Picture1. Similarly, when you click on the
procedure box, a list of procedures associated with the object will be displayed as
shown in figure 2.3. Some of the procedures associated with the object Form1 are
Activate, Click, DblClick (which means Double-Click), DragDrop, keyPress and
more. Each object has its own set of procedures. You can always select an object and
write codes for any of its procedure in order to perform certain tasks.
42

Chapter 7
Description of Hardware
This chapter gives the specifications and datasheets of the main hardware
components used in implementing the projects such as sensors for detecting human
presence i.e. wireless camera, MQ6 Gas sensor, Thermistor, PIR sensor and wireless
modules i.e. ZigBee & Microcontroller ATMEGA328, etc.
7.1 PIR Sensor:
Working Principle:-
• PIR sensor is the abbreviation of Passive Infrared Sensor. It measures the
amount of infrared energy radiated by objects in front of it. They does not emit
any kind of radiation but senses the infrared waves emitted or reflected by
objects.
• The heart of a PIR sensor is a solid state sensor or an array of such sensors
constructed from pyro-electric materials. Pyro-electric material is material by
virtue of it generates energy when exposed to radiation. Gallium Nitride is the
most common material used for constructing PIR sensors. Suitable lenses are
mounted at the front of the sensor to focus the incoming radiation to the sensor
face. Whenever an object or a human passes across the sensor the intensity of
the incoming radiation with respect to the background increases.
• As a result the energy generated by the sensor also increases. Suitable signal
conditioning circuits convert the energy generated by the sensor to a suitable
voltage output. In simple words the output of a PIR sensor module will be
HIGH when there is motion in its field of view and the output will be LOW
when there is no motion.
43

• PIR sensors are more complicated because there are multiple variables that
affect the sensors input and output. To begin explaining how a basic sensor
works, we'll use this diagram.
Figure 7.1: Proximity of PIRs
Figure 7.2: DSN-FIR800
44

7.2 MQ6 Gas Sensor:
Used in gas leakage detecting equipment's for detecting of LPG, iso-butane, propane,
LNG combustible gases. The sensor does not get trigger with the noise of alcohol,
cooking fumes and cigarette smoke.
Applications:
• Gas leak detection system
• Fire/Safety detection system
• Gas leak alarm / Gas detector
Features:
• Simple analog output
• High sensitivity to LPG, iso-butane, propane
• Small sensitivity to alcohol, smoke
• Fast response
• Wide detection range
• Stable performance and long life
45

Figure 7.3: MQ6 Gas Sensor Module
• Warm up Time:
The sensor needs 10 minutes of warm up time after first power is applied.
After 10 minutes you can take its readings. During warm up time the output
analog voltage would go up from 4.5V to 0.5V in variation down gradually.
During this warm up time the sensor reading should be ignored.
• Using the Sensor:
The sensor needs 5V to operate, Give regulated +5V DC supply, The sensor
will take around 180mA supply. The sensor will heat a little bit since it has
internal heater that heats the sensing element.
• Testing the sensor:
Measure the output voltage through multi-meter between A.OUT and Ground
pins or Use a microcontroller to measure the voltage output. Take the sensor
near combustible gas place like cooking gas stove with flame off or near bottle
of after shave liquid or cigarette light with flame off. You will notice sudden
jump in analog voltage output since the gas concentration will increase.
46

Table 7.1: Pin Description
Table 7.2: Specifications
47

7.3 Temperature Sensor-Thermistor:
A thermistor is a type of resistor with resistance varying according to its temperature.
The word is a portmanteau of thermal and resistor. Samuel Ruben invented the
thermistor in 1930, and was awarded U.S. Patent No. 2,021,491.
Thermistors are widely used as inrush current limiters, temperature sensors, self-
resetting overcurrent protectors, and self-regulating heating elements.
Assuming, as a first-order approximation, that the relationship between resistance and
temperature is linear, then:
R = k T
where
R = change in resistance
T = change in temperature
k = first-order temperature coefficient of resistance
Thermistors can be classified into two types depending on the sign of k. If k is
positive, the resistance increases with increasing temperature, and the device is called
a positive temperature coefficient (PTC) thermistor, or posistor. If k is negative, the
resistance decreases with increasing temperature, and the device is called a negative
temperature coefficient (NTC) thermistor. Resistors that are not thermistors are
designed to have a k as close to zero as possible, so that their resistance remains nearly
constant over a wide temperature range.
Thermistors differ from resistance temperature detectors in that the material used in a
thermistor is generally a ceramic or polymer, while RTDs use pure metals. The
temperature response is also different; RTDs are useful over larger temperature
ranges.
48

Figure 7.4: Thermistor symbol & NTC thermistor, bead type, insulated wire
Applications:
 PTC thermistors can be used as current-limiting devices for circuit protection,
as replacements for fuses. Current through the device causes a small amount
of resistive heating. If the current is large enough to generate more heat than
the device can lose to its surroundings, the device heats up, causing its
resistance to increase, and therefore causing even more heating. This creates a
self-reinforcing effect that drives the resistance upwards, reducing the current
and voltage available to the device.
 PTC thermistors can be used as heating elements in small temperature-
controlled ovens. As the temperature rises, resistance increases, decreasing the
current and the heating. The result is a steady state. A typical application is a
crystal oven controlling the temperature of the crystal of a high-precision
crystal oscillator. Crystal ovens are usually set at the upper limit of the
equipment's temperature specification, so they can maintain the temperature by
heating.
 NTC thermistors are used as resistance thermometers in low-temperature
measurements of the order of 10 K.
 NTC thermistors can be used as inrush-current limiting devices in power
supply circuits. They present a higher resistance initially which prevents large
currents from flowing at turn-on, and then heat up and become much lower
resistance to allow higher current flow during normal operation. These
49

thermistors are usually much larger than measuring type thermistors, and are
purposely designed for this application.
 NTC thermistors are regularly used in automotive applications. For example
they monitor things like coolant temperature and/or oil temperature inside the
engine and provide data to the ECU and indirectly the dashboard.
Thermistors are also commonly used in modern digital thermostats and to monitor the
temperature of battery packs while charging.
7.4 Wireless Camera Module:
• Super mini wireless color camera and wireless receiver set for wireless
transmission and receiving of video.
• This is a great low priced option for covert surveillance and security, as well
as, with a little moddling, an excellent choice for sending video direct from
your model as it is being used.
• It features an excellent wireless transmission range, broadcasts on 1.2 GHz to
avoid interference, and a receiver with Video OUT so it can easily and quickly
• Be set up with a TV for viewing the images from the camera as they are being
sent. This product uses the PAL color system.
Camera Specifications:
• Image Device: 1/4 Inch CMOS
• TV system: PAL/CCIR: 628 x 582
• Horizontal Definition: 380 Lines
• Angular Field of View: 38 degree
50

• Minimum Illumination: 3 LUX
• Synchronization System: Internal
• Backlight Compensation: Auto
• White Balance: Auto
• S/N Ratio: >48dB
• Operation Temperature: 5~ 35 deg C
• Transmission Frequency: 1.2Ghz
• Locked Frequencies
• Power Adapter: DC 9V
• Dimension: 20x20x22mm (LxWxD)
• Recommended Max Range for Objects: 7~8 Meters
• Transmission Range: 20 Meters.
Receiver Specifications:
• Receiving Frequency: 0.9/1.2Ghz
• Intermediate Frequency: 480Mhz
• Frequency Stabilization: +/-100Khz
• Demodulation Mode: FM
• Antenna: 50ohm SMA
• Receiving Sensitivity: -85dBm
• Power Source: 9V

• Dimensions: 120mm x 81mm x 20mm (L x W x D)
• Video OUT
Package Contents:
• Pinhole Camera
• Receiver
• Receiver Antenna
• 9V battery attachment for camera
• Video cable
• 2x power adapters
• Instructions – English
Figure 7.5: Camera Package Contents
52

7.5: ZigBee Module:
Why is ZigBee needed?
• There are a multitude of standards that address mid to high data rates for voice,
PC LANs, video, etc. However, up till now there hasn’t been a wireless
network standard that meets the unique needs of sensors and control devices.
Sensors and controls don’t need high bandwidth but they do need low
latency and very low energy consumption for long battery lives and for large
device arrays.
• There are a multitude of proprietary wireless systems manufactured today to
solve a multitude of problems that also don’t require high data rates but
do require low cost and very low current drain.
• Low power consumption, simply implemented
• Low cost (device, installation, maintenance)
• High density of nodes per network
• Simple protocol, global implementation
Figure 7.6: ZigBee Module
53

ZigBee/IEEE 802.15.4 - General Characteristics:
• Dual PHY (2.4GHz and 868/915 MHz)
• Data rates of 250 kbps (@2.4 GHz), 40 kbps (@ 915 MHz), and 20 kbps
(@868 MHz)
• Optimized for low duty-cycle applications (<0.1%)
• CSMA-CA channel access
• Yields high throughput and low latency for low duty cycle devices like sensors
and controls
• Low power (battery life multi-month to years)
• Multiple topologies: star, peer-to-peer, mesh
• Addressing space of up to:
• 18,450,000,000,000,000,000 devices (64 bit IEEE address)
• 65,535 networks
• Optional guaranteed time slot for applications requiring low latency
• Fully hand-shake protocol for transfer reliability
Range: 50m typical (5-500m based on environment)
54

7.6 Arduino Uno R3 (Atmega328):
Figure 7.7: ATMEGA328 Pin Configuration
Table 7.3: Summary
S u m m ar y
Microcontroller ATmega328
Operating Voltage 5V
Input Voltage (recommended) 7-12V
Input Voltage (limits) 6-20V
Digital I/O Pins 14 (of which 6 provide PWM output)
Analog Input Pins 6
DC Current per I/O Pin 40 mA
DC Current for 3.3V Pin 50 mA
Flash Memory 32 KB (ATmega328) of which 0.5 KB used by bootloader
SRAM 2 KB (ATmega328)
EEPROM 1 KB (ATmega328)
Clock Speed 16 MHz
55

Features:
• High Performance, Low Power AVR® 8-Bit Microcontroller
• Advanced RISC Architecture
• High Endurance Non-volatile Memory Segments
• Peripheral Features
• Special Microcontroller Features
• I/O and Packages
• Operating Voltage: 1.8 - 5.5V
• Temperature Range: -40°C to 85°C
• Speed Grade:
0 - 4 MHz@1.8 - 5.5V, 0 - 10 MHz@2.7 - 5.5.V, 0 - 20 MHz @ 4.5 - 5.5V
• Power Consumption at 1 MHz, 1.8V, 25°C
– Active Mode: 0.2 mA
– Power-down Mode: 0.1 μA
– Power-save Mode: 0.75 μA (Including 32 kHz RTC)
56

7.7 PUSH-PULL FOUR CHANNEL DRIVER WITH DIODES
L2963D:
Description:
The Device is a monolithic integrated high voltage, high current four channel driver
designed to accept standard DTL or TTL logic levels and drive inductive loads (such
as relays solenoids, DC and stepping motors) and switching power transistors. To
simplify use as two bridges each pair of channels is equipped with an enable input. A
separate supply input is provided for the logic, allowing operation at a lower voltage
and internal clamp diodes are included. This device is suitable for use in switching
applications at frequency up to 5 Khz.
The L293D is assembled in a 16 lead plastic package which has 4 center pins
connected together and used for heat sinking.
Figure 7.8: L293D Pin Configuration
57

7.8 PL-2303 USB to Serial Adapter:
Introduction:
The PL-2303 USB to Serial adapter is your smart and convenient accessory for
connecting RS-232 serial devices to your USB-equipped Windows host computer. It
provides a bridge connection with a standard DB 9-pin male serial port connector in
one end and a standard Type-A USB plug connector on the other end. You simply
attach the serial device onto the serial port of the cable and plug the USB connector
into your PC USB port. It allows a simple and easy way of adding serial connections
to your PC without having to go thru inserting a serial card and traditional port
configuration.
This USB to Serial adapter is ideal for connecting modems, cellular phones, PDAs,
digital cameras, card readers and other serial devices to your computer. It provides
serial connections up to 1Mbps of data transfer rate. And since USB does not require
any IRQ resource, more devices can be attached to the system without the previous
hassles of device and resource conflicts.
Finally, the PL-2303 USB to Serial adapter is a fully USB Specification compliant
device and therefore supports advanced power management such as suspend and
resume operations as well as remote wakeup. The PL-2303 USB Serial cable adapter
is designed to work on all Windows operating systems.
Features & Specifications:
• Smart USB to RS-232 (DB 9-pin male serial port) interface
• Supports various serial devices like modems, PDAs, cellular phones, digital
Cameras, card readers, and more with easy Plug and Play Installation
• Full Compliance with the Universal Serial Bus Specification v1.1
• Supports the standard RS-232 Serial Interface
• Supports automatic handshake mode
• Over 1Mbps data transfer rate
• Supports Remote Wake-up and Intelligent Power Management
• Provides Dual Buffers for upstream and downstream data transfer
• No IRQ resource required
• Bus Powered – no separate power supply or battery required
58

Chapter 8
Programming Code
This chapter includes the programming codes used in project implementation for
interfacing sensors with Microcontroller. Also it contains code for developing desktop
application for controlling robot using VB6 software.
8.1 Microcontroller Code:
const int M1 = 5;
const int M2 = 6;
const int M3 = 7;
const int M4 = 8;
const int sp=9;
int inByte = 0;
int count=100;
int gasValue = 0;
int tempValue = 0;
void setup() {
Serial.begin(9600);
pinMode(M1, OUTPUT);
59

pinMode(sp, OUTPUT);
}
void loop() {
while (Serial.available() > 0) {
inByte = Serial.read();
if(inByte == 49)
{
digitalWrite(M1,HIGH);
digitalWrite(M2,LOW);
//Serial.print("M1" );
}
if(inByte == 50)
{
60

//Serial.println("M2" );
}
if(inByte == 51)
{
}
if(inByte == 52)
{
}
if(inByte == 48)
{
61

}
/*
if(inByte == 53)
{
if(count<=250)
{
count=count+5;
}
}
if(inByte == 54)
{
if(count<=250)
{count=count-5;
}
}
analogWrite(sp,count);
*/
digitalWrite(sp,HIGH);
62

gasValue = analogRead(A0);
tempValue = analogRead(A1);
Serial.print("M1" );
Serial.print(gasValue);
Serial.print("M2" );
Serial.print(tempValue);
}
}
63

8.2 Visual Basic 6 Code:
Option Explicit
Private Declare Function SendMessage Lib "USER32" Alias "SendMessageA"
(ByVal hwnd As Long, ByVal wMsg As Long, ByVal wParam As Long, lParam As
Any) As Long
Private Declare Function capCreateCaptureWindow Lib "avicap32.dll" Alias
"capCreateCaptureWindowA" (ByVal lpszWindowName As String, ByVal dwStyle
As Long, ByVal x As Long, ByVal Y As Long, ByVal nWidth As Long, ByVal
nHeight As Long, ByVal hwndParent As Long, ByVal nID As Long) As Long
Private mCapHwnd As Long
Private Const CONNECT As Long = 1034
Private Const DISCONNECT As Long = 1035
Private Const GET_FRAME As Long = 1084
Private Const COPY As Long = 1054
Dim x(1 To 100, 0 To 1) As Variant
Dim id As Integer
Dim RCount As Integer
Dim CHNo As Variant
Dim Data As Variant
Dim c As Byte
Dim go As Byte
64

Private Sub Command1_Click()
If Port.PortOpen = True Then
Port.PortOpen = False
End If
If optCom1.Value Then
Port.CommPort = 1
End If
Port.CommPort = 2
End If
Port.CommPort = 3
End If
Port.CommPort = 4
End If
Port.Settings = "9600,N,8,1"
Port.InputLen = 1
Port.InBufferSize = 2000
Port.OutBufferSize = 2000
65

Port.RThreshold = 1
Port.PortOpen = True
Timer1.Enabled = True
End Sub
Port.Output = "1"
End Sub
Port.Output = "2"
End Sub
Port.Output = "3"
End Sub
Port.Output = "4"
End Sub
Port.Output = "0"
go = 0
End Sub
66

Private Sub Form_Load()
mCapHwnd = capCreateCaptureWindow("WebcamCapture", 0, 0, 0, 640, 480,
Me.hwnd, 0)
DoEvents
SendMessage mCapHwnd, CONNECT, 0, 0
Text1.Text = "o"
Text2.Text = "o"
On Local Error Resume Next
Call VR.Deactivate
Call VR.GrammarFromFile(App.Path & "Commands.Txt")
Call VR.Activate
End Sub
Private Sub VR_PhraseFinish(ByVal flags As Long, ByVal beginhi As Long, ByVal
beginlo As Long, ByVal endhi As Long, ByVal endlo As Long, ByVal Phrase As
String, ByVal parsed As String, ByVal results As Long)
On Local Error Resume Next
If Trim$(Phrase) <> "" Then
Me.Caption = Phrase
Call ExecuteVoiceCommand(Me, Phrase)
Else
Me.Caption = "Unrecognized Command..."
67

End If
End Sub
Function ExecuteVoiceCommand(Who As Form, sPhrase As String) As Boolean
On Local Error GoTo ExecuteVoiceCommandError
Dim x
Dim TaskID As Long
'Carry out command...
Select Case LCase$(sPhrase)
Case "stop"
Port.Output = "0"
Case "back"
Port.Output = "1"
Case "right"
Port.Output = "4"
Case "left"
Port.Output = "3"
Case "forward"
Port.Output = "2"
68

End Select
ExecuteVoiceCommand = True
Exit Function
ExecuteVoiceCommandError:
Exit Function
End Function
Private Sub getPic()
SendMessage mCapHwnd, GET_FRAME, 0, 0
SendMessage mCapHwnd, COPY, 0, 0
'If Clipboard.GetData = Image Then
Image1.Picture = Clipboard.GetData
'End If
Clipboard.Clear
DoEvents
End Sub
Private Sub Timer2_Timer()
Call getPic
End Sub
Private Sub Form_Unload(Cancel As Integer)
DoEvents: SendMessage mCapHwnd, DISCONNECT, 0, 0
69

End Sub
Private Sub Port_OnComm()
Dim RChr As String
If Not Port.CommEvent = comEvReceive Then Exit Sub
RChr = Port.Input
RCount = RCount + 1
If RChr = "M" Then
RCount = 0
If CHNo = 1 Then
Text1.Text = Data
End If
If CHNo = 2 Then
Text2.Text = Data
End If
If CHNo = 3 Then
Text3.Text = Data
End If
Data = ""
Exit Sub
End If
70

If RCount = 1 Then
CHNo = RChr
Exit Sub
End If
If RCount >= 2 Then
Data = Data & RChr
End If
End Sub
Private Sub Timer1_Timer()
If id <= 99 Then
id = id + 1
x(id, 0) = Val(Text1.Text)
x(id, 1) = Val(Text2.Text)
MSChart1.ChartData = x
Else
id = 2
End If
Port.Output = "X"
End Sub
71

8.3 VB6 Application Layout:
Here is the look of the application developed by VB6. After compilation when the
code is run this application screen appears through which we can control the robot and
receive various data and their respective graphical representation. Also we can see
live video footage of field.
Figure 8.1: VB6 application Layout
72

Chapter 9
Conclusions and Scope for future work
This chapter presents the conclusion of the project and also the scope in the future to
extract more features in the project if any.
9.1 Conclusion:
The project “Human Body Detection in Rescue Operation in Disaster” has been
successfully designed and tested. Integrating features of all the hardware components
used have developed it. Presence of all reasoned out and placed carefully thus
contributing to the best working. The controller makes use of a PIR based input
sensor, thermal sensor and CO2 sensor to sense the human being and give us an alert
indication. A wireless camera module is also used which provides live footage of the
field where rescue operation for determining human presence is performed. Also
ZigBee has been used for wirelessly transmitting and receiving data for controlling the
robot and identifying variations in sensed values. Hence this project provides best
solution for the human to detect the humans while they are trapped under the building
because of natural calamity like earthquake more quickly.
9.2 Scope for Future Work:
• The main purpose of the proposed system is to detect human beings and give
us information about their presence and location.
• Henceforth we can use GPS system to know their exact location.
• For increasing the range of communication with the rescue team, GSM
module can be included.
• Furthermore, metal and bomb detectors can be used to avoid possible damage.
Light-weighted solar panels can be included to make robot ‘Self Charging’
73

REFERENCES
 THIAGO TEIXEIRA Yale University, GERSHON DUBLON Massachusetts
Institute of Technology and ANDREAS SAVVIDES Yale University-“A
Survey of Human-Sensing:
Methods for Detecting Presence, Count, Location, Track, and
Identity” ACM Computing Surveys, Vol. V, No. N, 20YY.
 Geetha Bharathi.V.S PG Student, Department of ECE, Easwari Engineering
College, Chennai, TN, India , Dr.S.Sudha Professor, Department of ECE,
Easwari Engineering College, Chennai, TN, India-“Alive Human Detection in
Disaster Zones using Manually Controlled Robots”
IJIRCCE Vol. 3, Special Issue 2, March 2015.
 Trupti B. Bhondve PG student[VLSI], Dept. of E&TC , Dr.D.Y.Patil College
of Engineering, University of Pune, Ambi, Pune, India, Prof.R.Satyanarayan
Assistant Professor, Dept. of E&TC , Dr.D.Y.Patil College of Engineering,
University of Pune, Ambi, Pune, India, Prof. Moresh Mukhedkar Assistant
Professor, Dept. of E&TC , Dr.D.Y.Patil College of Engineering, University
of Pune, Ambi, Pune, India-“Mobile Rescue Robot for Human Body
Detection in Rescue Operation of Disaster”
IJIRCCE Vol. 3, Issue 6, June 2014.
 Rajeev Joshi *, Pratap Chandra Poudel **, Pankaj Bhandari Department of
Electronics & Communication, N.I.T, Raichur, Karnataka, India-“An
Embedded Autonomous Robotic System for Alive Human Body Detection
and Rescue Operation”
International Journal of Scientific and Research Publications, Volume 4, Issue
5, May 2014
 Basic Electronics – B.Ram
 Digital Electronics – R.P.Jain
74

 https://learn.adafruit.com/pir-passive-infrared-proximity-motion-sensor/how-
pirs-work
 http://www.electronicshub.org/human-detection-robot/
 http://www.redcircuits.com
 http://www.alldatasheet.com
 http://www.elctronicsforu.com
 https://www.youtube.com/watch?v=sMafgIlZpDM
 https://www.youtube.com/watch?v=oK6VnigINWw
 https://www.youtube.com/watch?v=pLalw4_DuSo
 https://www.youtube.com/watch?v=KqJwA5AQ2C4
 https://www.youtube.com/watch?v=VLYDurLo2VI
75

ACKNOWLEDGEMENT:
We would like to express our deepest appreciation to all those who provided us the
possibility to complete this project. A special gratitude to our final year project
manager MR. MARUTI ZALTE whose contribution in suggestions and
encouragement helped our group to complete the project successfully. Furthermore
we would like to acknowledge Mr. Amit who helped us to assemble the parts and
gave suggestions about the project. Last but not the least, many thanks go to our
project guide Mrs. Jyoti M. Varvadekar who has invested her full effort in guiding the
team achieving the goal. We have to appreciate the guidance given by her for our
project presentation that has improved our presentation skills thanks to their comment
and advice.
76

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